CN108960147A - Mobile population video monitoring system based on recognition of face - Google Patents

Mobile population video monitoring system based on recognition of face Download PDF

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Publication number
CN108960147A
CN108960147A CN201810732511.0A CN201810732511A CN108960147A CN 108960147 A CN108960147 A CN 108960147A CN 201810732511 A CN201810732511 A CN 201810732511A CN 108960147 A CN108960147 A CN 108960147A
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image
face
recognition
digital video
facial image
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郑永春
周飞标
陈建苗
胡林
孙莉
章立杨
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16Human faces, e.g. facial parts, sketches or expressions
    • G06V40/161Detection; Localisation; Normalisation
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/50Context or environment of the image
    • G06V20/52Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/53Recognition of crowd images, e.g. recognition of crowd congestion
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16Human faces, e.g. facial parts, sketches or expressions
    • G06V40/168Feature extraction; Face representation

Abstract

The present invention provides a kind of mobile population video monitoring system based on recognition of face, front end surveillance device collects real-time digital video by recognition of face monitoring camera, original image in real-time digital video is pre-processed, the image that can be used for the face of matching identification is filtered out, the image of the face that can be used for matching identification of acquisition is sent to control platform by telecommunications network;Control platform access face server identifies these facial images;The present invention can be in the digital video image of ultrahigh resolution, facial image is found out in real time, and control camera optical lens and the valuable face of holder tracking amplification, carry out optimum state candid photograph, the facial image of high value is provided for the backstage recognition of face server or portable equipment in a distant place, the data volume transmitted needed for greatly reducing, improves the face recognition accuracy rate and speed of monitoring system.

Description

Mobile population video monitoring system based on recognition of face
Technical field
The mobile population video monitoring system based on recognition of face that the present invention relates to a kind of.
Background technique
Existing recognition of face server can accomplish the comparison of two face pictures, usually a face photographed in real time The standard certificate photograph of image and a lane database compares, and finding out this present people is whom, such as airport and high-speed rail station, It is required that passenger takes pictures the face safety check camera sufficiently long time, then compared with the identity card of submission, confirmation is the same person.
However, in more application scenarios, such as public place monitoring system and crime scene investigation device etc., it is impossible to it is required that each The people passed by stands to a bat standard photograph before camera, then waits server is allowed to identify within tens seconds.In monitoring system and hold On method instrument, the image that camera obtains is intricate, fast changing, and many times face is all invisible at all.And it images How high resolution digital video image is sent to recognition of face server all far from control platform by the position of head installation, and How to obtain facial image is the bottleneck that monitoring system realizes recognition of face.
To solve the problems, such as high resolution digital video image transmitting, there are two types of present ways, and one is face is known Other server is put into the place of camera installation, and the high resolution video image of camera is directly accessed server and carries out to image Processing and identification;Another method is that after the high-definition digital video image of camera is handled into overcompression, have by dedicated Line high-speed channel is sent to the control platform in a distant place, then is linked into recognition of face server and is handled and identified.
The above both methods is not able to satisfy the requirement of practical application.In former scheme, each camera exists One expensive server of in-site installation is unrealistic, and the database in server is very high certificate of confidentiality requirement etc. Information, it is easy to cause to divulge a secret, along with the content of these databases is controlled by control platform, that is to say, that these distributions It must be connected with the Intranet of control platform in the server of each camera, this is not able to satisfy the requirement of network security.Latter In kind scheme, since the data volume of digital video image is very big, the data of 4K high resolution video image 12Gb about per second. Data volume big in this way cannot be transmitted in existing telecommunication path, need to be compressed to original thousand with the compression algorithms such as H.265 / mono- in dedicated wired paths hereinafter, could transmit.But high resolution video image is after overcompression, image it is thin Section is largely lost, and significantly reduces the accuracy of recognition of face, especially when there is multiple faces in image, each face Information content compressed after can not identify.In the wearable devices such as crime scene investigation device, since transmission mode can only be wireless, and It can only be battery power supply, image transmitting problem is more serious, and the video image of camera needs a ten thousandth or less to be possible to Transmission.And wireless transmission expense is very high, is not able to satisfy real requirement.
Refering to what is shown in Fig. 1, Fig. 1 is the structural schematic diagram of existing face identification system, server and Image Acquisition camera In the same place, server is filtered camera acquired image, object separation, the processing such as Face datection, people It after face is separated, is compared with the picture of identity card, confirmation is the same person.Such system structure can be used for airport and The special safety check bayonet such as high-speed rail has enough spaces, there is special messenger guard because these places belong to special harbor, Server and database are all relatively safer.But such system cannot be used in public place monitoring system, such as road, square, The places such as market, the place for installing camera do not have place to put server.Even if there is place to put server, there is also very big peaces Full hidden danger, is not able to satisfy application requirement.Especially server needs to be connected to the network with the control platform in a distant place, on these networks The data such as certificate belong to private data, and the data that external equipment accesses these Intranets will cause many security breaches, violate number According to security regulations.
Refering to what is shown in Fig. 2, indicating the structural schematic diagram of another existing face identification system, Image Acquisition camera passes through Private telecommunication network sends video image to the control platform in a distant place, and server is filtered camera acquired image, object Body separation, the processing such as Face datection, after face is separated, is compared with the picture of identity card, finds out the detailed of passing people Thin information.But high-resolution digital video image is transferred to a distant place, it is necessary to calculate by a large amount of compressions, such as H.265 etc. Data volume is compressed to original one thousandth hereinafter, can only many times see the result is that a large amount of details of image are lost by method To the fuzzy shadow, the accuracy of recognition of face is not caused to seriously affect.And in such system image delay it is very long, Usually want several seconds, etc. control platforms when identifying face, examined people has had been moved off scene, is not able to satisfy high request Face recognition application.
In both the above system structure, server spends a large amount of calculation resources to be used to handle high-resolution digital view Frequently, 100 twentieth images can only be handled in this way, that is to say, that a possibility that detecting face in image is small In 1%, it requires that face face camera is greater than two seconds time, can just find an effective facial image.
Recognition of face is an extremely complex and time-consuming process, it is desirable that high performance server hardware and artificial intelligence are soft Part.By existing computing capability, the digital picture of a 4K resolution ratio is handled, it is determined whether with the presence of identifiable face, greatly It is general to need 2 seconds, if there is identifiable face exists, face is separated, is treated as to be compared with certificate photograph Pair format, each facial image probably needs 1 second.Later using the photo on complicated intelligent algorithm and certificate into Row compares, it is determined whether consistent.However digital video is 60 width image per second, this results in recognition of face server can only be every Piece image is handled in 120 width images.This processed image is entirely random inside video flowing.That is it is Guarantee that finding the facial image people that one can be used in identification comparison must keep face face camera 2 seconds or more.Then pass through Can determine within several seconds whether face is consistent with certificate.This can satisfy the application on airport and high-speed rail safe examination system, can require Each passenger's face is imaged several leading second and is identified.But in the wearable devices such as public's monitoring system and crime scene investigation device, in this way Be not required to meet.There are many people in video image, and all ceaselessly moving, in face of the chance little time of camera It is very short.Piece image in 120 width image of recognition of face server random process, can find the chance for the face that can be identified Very little, and many computing resources are wasted for handling nugatory image.
The above problem should be paid attention to and be solved the problems, such as during the video monitoring of mobile population.
Summary of the invention
The object of the present invention is to provide a kind of, and the mobile population video monitoring system based on recognition of face solves the prior art Present in how to mobile population carry out fast and accurately high resolution video surveillance the problem of.
The technical solution of the invention is as follows:
A kind of mobile population video monitoring system based on recognition of face, including front end surveillance device and control platform,
Front end surveillance device: real-time digital video is collected by recognition of face monitoring camera, in real-time digital video Original image is pre-processed, the image that can be used for the face of matching identification is filtered out, by the matching identification that can be used for of acquisition The image of face sends control platform to by telecommunications network;
Control platform: the facial image transmitted by telecommunications network receiving front-end monitoring device accesses face server to these people Face image is identified.
Further, recognition of face monitoring camera includes holder, optical lens, imaging sensor, high-definition digital video Controller, facial image pretreatment and candid photograph module, image cache module and network interface,
Optical lens and the collected real-time digital video of imaging sensor pass through high-definition digital video controller access face figure As pre-processing and capturing module;
After facial image pretreatment and candid photograph module pre-process real-time digital video, the face that can be used for matching identification is filtered out Image, or by control holder and optical lens tracking capture optimum state facial image, then facial image is located in advance The image of the face that can be used for matching identification filtered out is cached and is led to by image cache module by reason and candid photograph module It crosses network interface and sends control platform to.
Further, facial image pretreatment and candid photograph module carry out image preprocessing to real-time digital video, specifically, Using the foreground and background of differential technique separation original image, the middle foreground image of original image and background image are divided From obtaining foreground image, the boundary profile that convolution algorithm finds out object carried out to foreground image and high-pass filtering template, according to wheel Wide continuity and closure isolates independent object, and the image of each object is normalized, then special with face It levies template and carries out convolution algorithm, obtain subject image.
Further, facial image pretreatment and candid photograph module filter out the image that can be used for the face of matching identification, have Body is, after carrying out image preprocessing to real-time digital video, obtains subject image, judges whether the subject image is positive dough figurine Face, if clarity is not less than setting value, filters out if so, seeing the clarity of facial image again and can be used for matching identification Face image.
Further, facial image pretreatment and candid photograph module capture optimum state facial image, specifically, to real-time After digital video carries out image preprocessing, subject image is obtained, judges whether the subject image is front face, if so, again See the clarity of facial image, if clarity is lower than setting value, control holder is directed at the face location, and controls optical lens Amplify and focus on the face, then according to facial image and positive eye opening skin detection convolution as a result, capture is best The facial image of state.
Further, facial image is pre-processed and is captured in module, after carrying out image preprocessing to real-time digital video, is obtained To subject image, judge whether the subject image is front face, is not front face if it is the subject image, then deleting should Subject image.
The beneficial effects of the present invention are:
One, mobile population video monitoring system of this kind based on recognition of face, can be in the digital video image of ultrahigh resolution In, facial image is found out in real time, and control camera holder and the valuable face of optical lens tracking amplification, carry out best shape State is captured, and is provided the facial image of high value for the backstage recognition of face server or portable equipment in a distant place, is greatly reduced institute The data volume that need to be transmitted improves the face recognition accuracy rate and speed of monitoring system.
Two, the present invention utilizes high-speed figure image processing techniques, the real-time digital video in recognition of face camera locality Middle that people face image is separated from background image, control recognition of face camera tracks and amplifies valuable people face, when When obtaining complete clearly people face image, captures and save the people face image, and by communication networks such as mobile phone wireless nets, people face figure It is identified as being sent to distant place background server, carries out the pretreatment of front end High-speed video images for face identification system, screening is simultaneously Capture clearly people face image, greatlys improve the efficiency of backstage human bioequivalence server, and filters out that account about video data total The rubbish image of amount 99.99%, communication bandwidth needed for well solving thecamera head to distant place background server and image clearly The contradiction of degree.
Three, in the present invention, the collected digital video of recognition of face monitoring camera accesses preprocessed chip, by real-time After digital video pretreatment, effective facial image is filtered out, or best face is captured in control holder and optical lens tracking Image is transferred to control platform by telecommunications network then these effective images, access face server to these images into Row identification.For digital video image after screening, effective face image data about only has original video data amount very much One of, existing telecommunication network or wireless network transmissions can be effectively utilized.And know since camera completes object The work such as other and facial image screening, it is subsequent that recognition of face server can be sufficiently used for operational capability face alignment identification etc. Work, a server can handle the input picture of multiple cameras, and the capital investment of expensive server is greatly saved.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the existing recognition of face server in the local system of monitoring.
Fig. 2 is the structural schematic diagram of system of the existing recognition of face server in control platform.
Fig. 3 is that mobile population video monitoring system of the embodiment of the present invention based on recognition of face illustrates schematic diagram.
Fig. 4 is that recognition of face monitoring camera illustrates schematic diagram in embodiment.
Fig. 5 is the flow diagram of the image pre-processing method of facial image pretreatment and candid photograph module in embodiment.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
A kind of mobile population video monitoring system based on recognition of face of embodiment, face identification system according to function Be divided into front end surveillance device and control platform two parts with complexity: front end surveillance device carries out high resolution digital video figure As pretreatment and backstage recognition of face control platform, enable front end in the place that image generates, before being transmitted to video Image procossing filters out valuable facial image, filters 99.9% or more hash, and controls holder and optical lens, Facial image high-definition is captured, only into excessively wired or wireless channel sends valuable image to the background service in a distant place Device carries out into a processing and identification facial image.
A kind of mobile population video monitoring system based on recognition of face, such as Fig. 3, including front end surveillance device and control are flat Platform.
Front end surveillance device: real-time digital video is collected by recognition of face monitoring camera, to real-time digital video In original image pre-processed, filter out the image that can be used for the face of matching identification, acquisition can be used for comparing knowledge The image of other face sends control platform to by telecommunications network.
Control platform: the facial image transmitted by telecommunications network receiving front-end monitoring device accesses face server to this A little facial images are identified.
Mobile population video monitoring system of this kind based on recognition of face passes through screening to the image of real-time digital video Afterwards, the image data that can be used for the face of matching identification about only has a ten thousandth of original video data amount, can be effectively Utilize existing telecommunication network or wireless network transmissions.And due to recognition of face monitoring camera complete object identification and The work such as facial image screening, recognition of face server can be sufficiently used for operational capability the subsequent works such as face alignment identification Make, a server can handle the input picture of multiple cameras, and the capital investment of expensive server is greatly saved.It should Mobile population video monitoring system of the kind based on recognition of face, is able to solve the high resolution video image encountered in recognition of face Transmission problem and effective facial image Trapped problems.
Mobile population video monitoring system of this kind based on recognition of face, can find out in huge video image data And capture to the valuable facial image of recognition of face, to screen out a large amount of repetition, unwanted picture, know for backstage face Other server provides important clearly image, and recognition speed and accuracy is greatly improved.
In embodiment, such as Fig. 4, recognition of face monitoring camera includes holder, optical lens, imaging sensor, high definition number Word Video Controller, facial image pretreatment and candid photograph module, image cache module and network interface.Optical lens and image pass The collected real-time digital video of sensor accesses facial image pretreatment by high-definition digital video controller and captures module.People After face image pretreatment and candid photograph module pre-process real-time digital video, the figure that can be used for the face of matching identification is filtered out Picture, or by control holder and optical lens tracking capture optimum state facial image, then facial image pretreatment and Module is captured by the image of the face that can be used for matching identification filtered out, is cached by image cache module and passes through net Network interface sends control platform to.
Such as Fig. 4, embodiment pre-processes facial image and captures module and recognition of face monitoring camera is integrated.? In such system, the collected real-time digital video access facial image pretreatment of camera and candid photograph module, by real-time After digital video pretreatment, the image that can be used for the face of matching identification, or control holder and optical lens tracking are filtered out Best facial image is captured, then these effective images, control platform is transferred to by telecommunications network, accesses face server These images are identified.
In embodiment, optical lens accesses 4K high-resolution image sensors, and imaging sensor converts light image signal At electric signal, by high-definition digital video controller, image signal encoding is become per second 50 or 60 width digital videos, then It accesses facial image pretreatment and captures module.Face in facial image pretreatment and the candid photograph every piece image of block search, If face is clear enough, there are enough pixels, just send the face to the facial image cache module of rear class, then passes through network Interface is sent to control platform.Control platform accesses recognition of face server and carries out face alignment.
In embodiment, such as Fig. 5, facial image pretreatment and candid photograph module carry out image preprocessing to real-time digital video, Specifically, using the foreground and background of differential technique separation original image, by the middle foreground image and background image of original image It is separated, obtains foreground image, the boundary profile that convolution algorithm finds out object is carried out to foreground image and high-pass filtering template, Independent object is isolated according to the continuity of profile and closure, the image of each object is normalized, then with Skin detection carries out convolution algorithm, obtains subject image.
Facial image pretreatment and candid photograph module filter out the image that can be used for the face of matching identification, specifically, right After real-time digital video carries out image preprocessing, subject image is obtained, judges whether the subject image is front face, if It is, then sees the clarity of facial image, if clarity is not less than setting value, filters out the face that can be used for matching identification Image.
Facial image pretreatment and candid photograph module capture optimum state facial image, specifically, to real-time digital video After carrying out image preprocessing, subject image is obtained, judges whether the subject image is front face, if so, seeing face figure again The clarity of picture, if clarity is lower than setting value, control holder is directed at the face location, and controls optical lens and amplify and gather Coke arrives the face, then according to facial image and positive eye opening skin detection convolution as a result, the people of capture optimum state Face image.
In facial image pretreatment and candid photograph module, after carrying out image preprocessing to real-time digital video, object figure is obtained Picture judges whether the subject image is front face, is not front face if it is the subject image, then deletes the object figure Picture.
In embodiment, high resolution video image filters big into after the facial image pretreatment for crossing front end and capturing module The independent image data of amount, only screens and captures high-resolution facial image and be sent to distant place control platform, significantly reduces The data volume of required transmission, while the facial image of high quality is provided, the burden of background server is alleviated, it can be meter It calculates process resource and is used for recognition of face, improve recognition efficiency and speed.
In embodiment, facial image pretreatment and candid photograph module are integrated into recognition of face monitoring camera in front, directly handle Raw digital video image, using the foreground and background of differential technique separate picture, to foreground image and high-pass filtering template into Row convolution algorithm finds out the boundary profile of object, independent object is isolated according to the continuity of profile and closure, to each The image of object is normalized, then carries out convolution algorithm with skin detection, judges whether the object is positive dough figurine Face, if clarity is inadequate, just controls holder and is directed at the face location, and control if it is the clarity for seeing facial image again Optical lens amplifies and focuses on the face, then according to facial image and positive eye opening skin detection convolution as a result, Optimum state facial image is captured, the further identifying processing of distant place background server is then passed to.It can be realized processing per second 60 The high resolution video image of width 4K handles every piece image in real time, finds any useful human face image information, and can In the case where piece image up to 80 facial images, quickly control holder and optical lens capture each valuable respectively People face image.
In embodiment, the high-definition digital image of 60 width 4K resolution ratio of real-time processing per second is realized using high speed ASIC, to figure As carrying out calculus of differences wiping out background image, then carries out convolutional filtering and extract contour of object, multiple objects are isolated from image The object separated is compared with face characteristic for body, excludes non-face object, thus people face from video image It separates, up to 80 people faces can be discerned from each image.
After facial image is detected and separated from video, the angle of face and camera is judged according to face characteristic Degree, picks out the face in face camera direction, controls the holder tracking of camera, alignment, and adjust optical lens focusing, puts The big face, captures the facial image in the optimal situation of face state.
With reference to shown in Fig. 3 and Fig. 4, embodiment proposes handle for emerging recognition of face and the demand of artificial intelligence vision The method that face snap and digital image video pretreatment are realized with special chip, and video pre-filtering be integrated into camera, In crime scene investigation device and wearable device, after the high quality facial image shearing that then candid photograph is arrived, by wired or wireless network It is sent to the system structure that a distant place control platform facial image is compared identification.In such a system, optical system and height The digital video image that image in different resolution sensing acquisition arrives filters out valuable facial image, and control by processing in real time Optical lens and holder track and capture the facial image of high quality, greatly reduce the data volume for needing to transmit, share a distant place The video processing load of the backstage recognition of face server of control platform, is greatly improved facial image recognition speed, accuracy and Efficiency.
And than that described above, it is also necessary to which explanation is " one embodiment " spoken of in the present specification, " another reality Apply example ", " embodiment " etc., refer to specific features, structure or the feature of embodiment description is combined to be included in the application general In at least one embodiment of including property description.In the description multiple places occur statements of the same race be not centainly refer to it is same Embodiment.Furthermore, it is understood that when describing a specific features, structure or feature in conjunction with any embodiment, what is advocated is Realize that this feature, structure or feature are also fallen within the scope of the present invention in conjunction with other embodiments.
Although reference be made herein to invention has been described for multiple explanatory embodiments of the invention, however, it is to be understood that Those skilled in the art can be designed that a lot of other modification and implementations, these modifications and implementations will fall in this Shen It please be within disclosed scope and spirit.More specifically, disclose in the application, drawings and claims in the range of, can With the building block and/or a variety of variations and modifications of layout progress to theme combination layout.In addition to building block and/or layout Outside the variations and modifications of progress, to those skilled in the art, other purposes also be will be apparent.

Claims (6)

1. a kind of mobile population video monitoring system based on recognition of face, it is characterised in that: including front end surveillance device and control Platform processed,
Front end surveillance device: real-time digital video is collected by recognition of face monitoring camera, in real-time digital video Original image is pre-processed, the image that can be used for the face of matching identification is filtered out, by the matching identification that can be used for of acquisition The image of face sends control platform to by telecommunications network;
Control platform: the facial image transmitted by telecommunications network receiving front-end monitoring device accesses face server to these people Face image is identified.
2. the mobile population video monitoring system based on recognition of face as described in claim 1, which is characterized in that recognition of face Monitoring camera includes holder, optical lens, imaging sensor, high-definition digital video controller, facial image pretreatment and grabs Module, image cache module and network interface are clapped,
Optical lens and the collected real-time digital video of imaging sensor pass through high-definition digital video controller access face figure As pre-processing and capturing module;
After facial image pretreatment and candid photograph module pre-process real-time digital video, the face that can be used for matching identification is filtered out Image, or by control holder and optical lens tracking capture optimum state facial image, then facial image is located in advance The image of the face that can be used for matching identification filtered out is cached and is led to by image cache module by reason and candid photograph module It crosses network interface and sends control platform to.
3. the mobile population video monitoring system based on recognition of face as claimed in claim 2, it is characterised in that: facial image Pretreatment and candid photograph module carry out image preprocessing to real-time digital video, specifically, differential technique is utilized to separate original image Foreground and background, the middle foreground image of original image is separated with background image, foreground image is obtained, to foreground image The boundary profile that convolution algorithm finds out object is carried out with high-pass filtering template, is isolated solely according to the continuity of profile and closure The image of each object is normalized in vertical object, then carries out convolution algorithm with skin detection, obtains object Image.
4. the mobile population video monitoring system based on recognition of face as claimed in claim 2, it is characterised in that: facial image Pretreatment and candid photograph module filter out the image that can be used for the face of matching identification, specifically, carrying out to real-time digital video After image preprocessing, subject image is obtained, judges whether the subject image is front face, if so, seeing facial image again Clarity filters out the image that can be used for the face of matching identification if clarity is not less than setting value.
5. such as the described in any item mobile population video monitoring systems based on recognition of face of claim 2-4, it is characterised in that: Facial image pretreatment and candid photograph module capture optimum state facial image, specifically, carrying out image to real-time digital video After pretreatment, subject image is obtained, judges whether the subject image is front face, if so, seeing the clear of facial image again Degree, if clarity is lower than setting value, control holder is directed at the face location, and controls optical lens and amplify and focus on the people Face, then according to facial image and positive eye opening skin detection convolution as a result, the facial image of capture optimum state.
6. such as the described in any item mobile population video monitoring systems based on recognition of face of claim 2-4, it is characterised in that: In facial image pretreatment and candid photograph module, after carrying out image preprocessing to real-time digital video, subject image is obtained, judgement should Whether subject image is front face, is not front face if it is the subject image, then deletes the subject image.
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CN109842752A (en) * 2019-03-12 2019-06-04 安徽协创物联网技术有限公司 It is a kind of support 4G communication can recognition of face intelligent video camera head
CN112949427A (en) * 2021-02-09 2021-06-11 北京奇艺世纪科技有限公司 Person identification method, electronic device, storage medium, and apparatus

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Application publication date: 20181207